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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00005/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00005/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e068369816b476a5531034ab2d6a3ed838344f77 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00005/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_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 a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + 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: + - 0.238 + - 0.238 + 'y': + - 0.2936 + - 0.2936 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3517 + - 0.3517 + 'y': + - -0.1314 + - -0.1314 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3593 + - 0.3593 + 'y': + - 0.0744 + - 0.0744 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2386 + - 0.2386 + 'y': + - -0.3598 + - -0.3598 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00005 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00005/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00005/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..191cc4c7d8934527a039d7a882e14c4a41bf5fc2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00005/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2653116558901878, + 0.290948348152809, + 1.1615142451013551 + ], + "current_z": 1.1615142451013551, + "required_z": 0.8611066060565231, + "initial_z": 0.7611066060565231, + "lift_margin": 0.30040763904483203, + "gripper_z": 1.1522441906902763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2595975729965169, + 0.2857085491647102, + 1.1522441906902763 + ], + "object_minus_gripper": [ + 0.005714082893670869, + 0.005239798988098787, + 0.009270054411078865 + ], + "object_to_gripper_xy": 0.00775282121239895, + 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00006/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00006/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb753e0ccb62b54dbc1b4a60e8ccd44477db95d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00006/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00006 +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 a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00006 + reproducibility: + enabled: true + layout_id: layout_00006 + action_seed: 613915801507398911 + step_seeds: + - 103325174323403004 + - 3963008736894911500 + - 627831696969887324 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1693 + - 0.1693 + 'y': + - 0.2301 + - 0.2301 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2036 + - 0.2036 + 'y': + - -0.0458 + - -0.0458 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3338 + - 0.3338 + 'y': + - 0.1177 + - 0.1177 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2348 + - 0.2348 + 'y': + - -0.3636 + - -0.3636 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00006 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00006/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00006/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e91cea3b020ef1b5e3dd47ab53ceef5f4ebee0cb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00006/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.19670072732061897, + 0.2324428636015718, + 1.1612043378442456 + ], + "current_z": 1.1612043378442456, + "required_z": 0.8611066329855882, + "initial_z": 0.7611066329855882, + "lift_margin": 0.3000977048586574, + "gripper_z": 1.1547228477592002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1920780482167149, + 0.2274541090147399, + 1.1547228477592002 + ], + "object_minus_gripper": [ + 0.0046226791039040704, + 0.0049887545868319005, + 0.006481490085045394 + ], + "object_to_gripper_xy": 0.006801237712748149, + 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00007/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00007/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc2a7ac759917be5545898a194f79003be780659 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00007/resolved_config.yaml @@ -0,0 +1,233 @@ +name: lab3_heat_2beaker_s03_plr_hta_00007 +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 a from home. Place beaker a on the heater platform. + Press the heater button to start heating. + layout_id: layout_00007 + reproducibility: + enabled: true + layout_id: layout_00007 + action_seed: 6136293983304232058 + step_seeds: + - 6016277329034288049 + - 1223355012610134023 + - 916088432641120656 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.291 + - 0.291 + 'y': + - -0.077 + - -0.077 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1969 + - 0.1969 + 'y': + - 0.3077 + - 0.3077 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3306 + - 0.3306 + 'y': + - 0.0809 + - 0.0809 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2438 + - 0.2438 + 'y': + - -0.3342 + - -0.3342 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00007 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00007/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00007/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ac661f41f7aa0e1b856f7f9f567bc6826d1ee83 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_hta_00007/results/episode_0_success.json @@ -0,0 +1,700 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32396905113920565, + -0.08109887586341784, + 1.1649451507382236 + ], + "current_z": 1.1649451507382236, + "required_z": 0.8611066003568812, + "initial_z": 0.7611066003568813, + "lift_margin": 0.30383855038134233, + "gripper_z": 1.155946106190927, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.319432659159867, + -0.08564395252091096, + 1.155946106190927 + ], + "object_minus_gripper": [ + 0.004536391979338639, + 0.0045450766574931245, + 0.008999044547296497 + ], + "object_to_gripper_xy": 0.006421570992576256, + 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