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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00030/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00030/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eeaa2a5c7ecc2618aa051b25bacc9e43079b44ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00030/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_poo_00030 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at home. + layout_id: layout_00030 + reproducibility: + enabled: true + layout_id: layout_00030 + action_seed: 6658796726011171620 + step_seeds: + - 3188608099509189937 + - 4949622282959698655 + - 6590206372818194557 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2789 + - 0.2789 + 'y': + - -0.1177 + - -0.1177 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3526 + - 0.3526 + 'y': + - 0.066 + - 0.066 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3422 + - 0.3422 + 'y': + - 0.3239 + - 0.3239 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2265 + - 0.2265 + 'y': + - -0.4092 + - -0.4092 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00030 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00030/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00030/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5406be8f0124779e4699261dad0498ea92586c50 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00030/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + 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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00001/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00001/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ae162ef1e246c07d221acde465aa9b89a7c20f4b --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00001/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_cvg_00001 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Pour beaker b into the preloaded + beaker c and return it upright. Place beaker b at home. + layout_id: layout_00001 + reproducibility: + enabled: true + layout_id: layout_00001 + action_seed: 930985434780052157 + step_seeds: + - 4454205068413497318 + - 4415600845410333999 + - 4823626241943975924 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2918 + - 0.2918 + 'y': + - -0.1387 + - -0.1387 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2543 + - 0.2543 + 'y': + - 0.1898 + - 0.1898 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.2982 + - 0.2982 + 'y': + - 0.0462 + - 0.0462 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.1288 + - 0.1288 + 'y': + - 0.3901 + - 0.3901 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1206 + - 0.1206 + 'y': + - -0.4323 + - -0.4323 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00001 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00001/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00001/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c911cfce0b450322f78c7a00cd7d2b2f5c245499 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00001/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.28088563220867346, + 0.19219877795838713, + 0.9999148094230517 + ], + "current_z": 0.9999148094230517, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.14332818280519655, + "gripper_z": 1.001050692408429, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.27559081343556957, + 0.18734470274930115, + 1.001050692408429 + ], + "object_minus_gripper": [ + 0.005294818773103893, + 0.004854075209085984, + -0.0011358829853773678 + ], + "object_to_gripper_xy": 0.0071831157567922126, + "object_to_gripper_z": -0.0011358829853773678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.28088563220867346, + 0.16741643010672214, + 0.9999148094230517 + ], + "finger_b": [ + 0.26928225981993437, + 0.19219877795838713, + 0.9999148094230517 + ], + "finger_midpoint": [ + 0.2750839460143039, + 0.17980760403255464, + 0.9999148094230517 + ], + "object_minus_finger_midpoint": [ + 0.005801686194369549, + 0.0123911739258325, + 0.0 + ], + "finger_gap": 0.027364265307745387, + "fingertip_max_gap": 0.09083502713173708, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + 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+ "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_c", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + 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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00003/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00003/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bfef272b6fc23e8f9ff4c659bbef84610746e298 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00003/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_cvg_00003 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Pour beaker b into the preloaded + beaker c and return it upright. Place beaker b at home. + layout_id: layout_00003 + reproducibility: + enabled: true + layout_id: layout_00003 + action_seed: 8196756798222636436 + step_seeds: + - 6038634529671703149 + - 2665526681626151468 + - 4292576788232893539 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2584 + - 0.2584 + 'y': + - -0.1685 + - -0.1685 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2349 + - 0.2349 + 'y': + - 0.1721 + - 0.1721 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.2759 + - 0.2759 + 'y': + - 0.0402 + - 0.0402 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.0926 + - 0.0926 + 'y': + - 0.4112 + - 0.4112 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1337 + - 0.1337 + 'y': + - -0.4339 + - -0.4339 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00003 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00003/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00003/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18a90e404be2de468bc493aad75ebc589a394411 --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00003/results/episode_0_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.25872759534067113, + 0.17329714442621585, + 0.9973235019520046 + ], + "current_z": 0.9973235019520046, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 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"panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": 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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00005/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00005/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d137ef03d32ddbe310862e4413df8372b13caddf --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00005/resolved_config.yaml @@ -0,0 +1,254 @@ +name: fast_3beaker_preloaded_mix_s03_pol_cvg_00005 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Pour beaker b into the preloaded + beaker c and return it upright. Place beaker b at home. + layout_id: layout_00005 + reproducibility: + enabled: true + layout_id: layout_00005 + action_seed: 1265260622047408349 + step_seeds: + - 3954225634939434796 + - 941158965129780711 + - 4636139028423254317 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2915 + - 0.2915 + 'y': + - 0.1764 + - 0.1764 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2338 + - 0.2338 + 'y': + - 0.2908 + - 0.2908 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_c + path: /World/beaker_3 + position_range: + x: + - 0.2695 + - 0.2695 + 'y': + - 0.0169 + - 0.0169 + z: + - 0.0 + - 0.0 + role: receiver + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.0742 + - 0.0742 + 'y': + - 0.3987 + - 0.3987 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.1235 + - 0.1235 + 'y': + - -0.4157 + - -0.4157 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_c + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00005 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00005/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00005/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..04d0b914a7564fe6d9ee5c147d63c3764519e77c --- /dev/null +++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00005/results/episode_100_success.json @@ -0,0 +1,1017 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.25461217999113217, + 0.29341661584881373, + 0.9974180761800333 + ], + "current_z": 0.9974180761800333, + "required_z": 0.8565867262468322, + "initial_z": 0.7565867262468322, + "lift_margin": 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