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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00030/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00030/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fbacb6b8130993b63a38e8242ad715023c32bfed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00030/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00030 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00030 + reproducibility: + enabled: true + layout_id: layout_00030 + action_seed: 6658796726011171620 + step_seeds: + - 3188608099509189937 + - 4949622282959698655 + - 6590206372818194557 + - 3957288070049760871 + - 4471394649374130754 + - 7646082623233218622 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2789 + - 0.2789 + 'y': + - -0.1259 + - -0.1259 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3526 + - 0.3526 + 'y': + - 0.0065 + - 0.0065 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2265 + - 0.2265 + 'y': + - -0.4092 + - -0.4092 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2932 + - 0.2932 + 'y': + - 0.3092 + - 0.3092 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00030 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00030/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00030/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b24394e97aaabdd1826f56e34654ff8f93cfac8f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00030/results/episode_12_success.json @@ -0,0 +1,2017 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "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": [ + 0.3862961246515513, + 0.006414297960444633, + 1.156999579637402 + ], + "current_z": 1.156999579637402, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.3004130722288364, + "gripper_z": 1.1503830882768973, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38065655219186784, + 0.0011487496818214926, + 1.1503830882768973 + ], + "object_minus_gripper": [ + 0.0056395724596834396, + 0.00526554827862314, + 0.006616491360504684 + ], + "object_to_gripper_xy": 0.007715618977277911, + "object_to_gripper_z": 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00032/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00032/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b9fffb9b092ad3dcf764b881a08c2f91f7e624d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00032/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00032 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00032 + reproducibility: + enabled: true + layout_id: layout_00032 + action_seed: 8965520104066671838 + step_seeds: + - 5868908299052723470 + - 1147186024122430536 + - 7048677080094423649 + - 1480185638166204106 + - 3014162407012415582 + - 4167145195996473630 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1803 + - 0.1803 + 'y': + - -0.0925 + - -0.0925 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.285 + - 0.285 + 'y': + - 0.081 + - 0.081 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2185 + - 0.2185 + 'y': + - -0.3137 + - -0.3137 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2942 + - 0.2942 + 'y': + - 0.3 + - 0.3 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00032 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00032/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00032/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bbeaf08cf06d38e368cd5d94baf91017b721a1da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00032/results/episode_0_success.json @@ -0,0 +1,2002 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00034/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00034/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f0aa05f03d2459666ef77a1440cc53bdcb21aa0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00034/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00034 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00034 + reproducibility: + enabled: true + layout_id: layout_00034 + action_seed: 389182418421508640 + step_seeds: + - 6981473092914694446 + - 3484436156298663386 + - 4699301906249893498 + - 8219805814022168206 + - 5448517529147307965 + - 3056303453883352830 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3227 + - 0.3227 + 'y': + - 0.0576 + - 0.0576 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2951 + - 0.2951 + 'y': + - -0.0491 + - -0.0491 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2196 + - 0.2196 + 'y': + - -0.3932 + - -0.3932 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2911 + - 0.2911 + 'y': + - 0.2952 + - 0.2952 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00034 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00034/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00034/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c974afef7ed0baf050863a6b4b6d24b798ea9efa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00034/results/episode_0_success.json @@ -0,0 +1,2014 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00035/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00035/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79b0ffc20bc1ee1c6b1c6a87ec1142319d2d95df --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00035/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00035 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00035 + reproducibility: + enabled: true + layout_id: layout_00035 + action_seed: 8795614797710026623 + step_seeds: + - 3944254798520509588 + - 3028392388710505277 + - 408830198229115201 + - 5506603594016192635 + - 5255127595498083662 + - 5473445184449098552 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2636 + - 0.2636 + 'y': + - -0.1355 + - -0.1355 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2588 + - 0.2588 + 'y': + - 0.0719 + - 0.0719 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2092 + - 0.2092 + 'y': + - -0.3818 + - -0.3818 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2774 + - 0.2774 + 'y': + - 0.2928 + - 0.2928 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00035 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00035/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00035/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..272d171b11bef28a8824eb624cae4acafa3859f0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00035/results/episode_10_success.json @@ -0,0 +1,2008 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 6, + 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00037/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00037/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd6e18f33b8a34d84c31c546e809c9583a59e15d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00037/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00037 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00037 + reproducibility: + enabled: true + layout_id: layout_00037 + action_seed: 1967769665086827478 + step_seeds: + - 3124893100479905848 + - 7962343303254226924 + - 8377372019710927810 + - 2226925136686172681 + - 6720976787259375900 + - 7628514350090862349 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2745 + - 0.2745 + 'y': + - 0.0794 + - 0.0794 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2169 + - 0.2169 + 'y': + - -0.1227 + - -0.1227 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2159 + - 0.2159 + 'y': + - -0.3389 + - -0.3389 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2836 + - 0.2836 + 'y': + - 0.3106 + - 0.3106 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00037 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00037/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00037/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a22a6ec8bfef6b76c0a02ec77d4e90aeb293543b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00037/results/episode_10_success.json @@ -0,0 +1,2002 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 6, + 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00039/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00039/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c1247125816ff8b69284488d82decf858860a38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00039/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00039 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00039 + reproducibility: + enabled: true + layout_id: layout_00039 + action_seed: 8331033651181015606 + step_seeds: + - 4887968345217639400 + - 6663623205631486271 + - 6438046553819096418 + - 7713834918281582908 + - 8825276329512701424 + - 4988675821934206196 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3412 + - 0.3412 + 'y': + - 0.1006 + - 0.1006 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2029 + - 0.2029 + 'y': + - -0.1201 + - -0.1201 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.224 + - 0.224 + 'y': + - -0.367 + - -0.367 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.281 + - 0.281 + 'y': + - 0.3174 + - 0.3174 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00039 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00039/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00039/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba1385a5b86b18e401a1b87b2df95d169e6bc584 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00039/results/episode_0_success.json @@ -0,0 +1,2002 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00046/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00046/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d78703b40d2524d494a18c0c0020a8cd19e2e3c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00046/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00046 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00046 + reproducibility: + enabled: true + layout_id: layout_00046 + action_seed: 9032859970554201233 + step_seeds: + - 5371425038879023178 + - 5270287827369487949 + - 8536829748502922744 + - 8965198113053190260 + - 1011918286666041404 + - 7483370860822343823 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3043 + - 0.3043 + 'y': + - -0.0305 + - -0.0305 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3103 + - 0.3103 + 'y': + - 0.0825 + - 0.0825 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.235 + - 0.235 + 'y': + - -0.3736 + - -0.3736 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2975 + - 0.2975 + 'y': + - 0.3065 + - 0.3065 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00046 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00046/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00046/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ecbf10c0f4ed5236bc4e1cd316b5988b2a9bd500 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00046/results/episode_0_success.json @@ -0,0 +1,2023 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00049/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00049/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d8526e8916f22d8cd3a229510b4a185b0e97569f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00049/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00049 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00049 + reproducibility: + enabled: true + layout_id: layout_00049 + action_seed: 9141974314119947804 + step_seeds: + - 4852920287294042381 + - 693334814367054326 + - 1251271704136841748 + - 1523358855677225369 + - 6093207976759283165 + - 6022292891678446872 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1698 + - 0.1698 + 'y': + - -0.1063 + - -0.1063 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3535 + - 0.3535 + 'y': + - 0.1151 + - 0.1151 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.211 + - 0.211 + 'y': + - -0.3681 + - -0.3681 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2902 + - 0.2902 + 'y': + - 0.3187 + - 0.3187 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00049 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00049/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00049/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..810e8a7d9e3901d84c2a118ca55cf9e0f3441e8c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00049/results/episode_0_success.json @@ -0,0 +1,2009 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00053/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00053/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8c5b963ec0765c552be5d20b2bfde4cdd5304a58 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00053/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00053 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00053 + reproducibility: + enabled: true + layout_id: layout_00053 + action_seed: 6843919548868063803 + step_seeds: + - 5199353700918230458 + - 1290258848948700541 + - 5893590780811652695 + - 2449246150117278785 + - 2247268171952805441 + - 6185228844831420462 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3535 + - 0.3535 + 'y': + - 0.0638 + - 0.0638 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2682 + - 0.2682 + 'y': + - -0.0885 + - -0.0885 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2144 + - 0.2144 + 'y': + - -0.3914 + - -0.3914 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2736 + - 0.2736 + 'y': + - 0.2952 + - 0.2952 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00053 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00053/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00053/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c46392ff2fb61d2ac923a06d82e5868f839f4bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00053/results/episode_12_success.json @@ -0,0 +1,2002 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 6, + 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00054/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00054/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5cfcf6cac8d730d178cee7b4c0b306e2ff931ce0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00054/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00054 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00054 + reproducibility: + enabled: true + layout_id: layout_00054 + action_seed: 8865105015247510022 + step_seeds: + - 9092373221738194413 + - 5718852617331806488 + - 5334696411964519894 + - 8360605087653114312 + - 6675749095117627503 + - 1590574080683186716 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2732 + - 0.2732 + 'y': + - -0.0188 + - -0.0188 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3026 + - 0.3026 + 'y': + - 0.1075 + - 0.1075 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.222 + - 0.222 + 'y': + - -0.3941 + - -0.3941 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2761 + - 0.2761 + 'y': + - 0.3169 + - 0.3169 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00054 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00054/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00054/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2a96fcc6ae77228c7e6ec96be8d195c83fe5c9d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00054/results/episode_1_success.json @@ -0,0 +1,2017 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00057/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00057/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..914effb8f0eb4e7a873981ffe97679b0d11a6235 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00057/resolved_config.yaml @@ -0,0 +1,329 @@ +name: lab3_heatstir_2beaker_s06_plptlr_hsd_00057 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Place beaker b on the heater platform. + Pick up the glass rod from the rack. Stir the contents of beaker b with the glass + rod. Return the glass rod to the rack. Press the heater button to start heating. + layout_id: layout_00057 + reproducibility: + enabled: true + layout_id: layout_00057 + action_seed: 5106355436221068052 + step_seeds: + - 4323989940823993527 + - 8704966294952389805 + - 6674651521802004006 + - 6626696767620207334 + - 9057763806215749226 + - 4835265368409197573 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3283 + - 0.3283 + 'y': + - 0.021 + - 0.021 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1877 + - 0.1877 + 'y': + - -0.0877 + - -0.0877 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2015 + - 0.2015 + 'y': + - -0.377 + - -0.377 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2772 + - 0.2772 + 'y': + - 0.3103 + - 0.3103 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00057 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00057/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00057/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aab306d1481f1a29ea06d368d7adacf325ceac17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plptlr_hsd_00057/results/episode_0_success.json @@ -0,0 +1,2002 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, 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diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00000/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00000/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1432510f3198b227b46db78bed67566d1ab23a50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00000/resolved_config.yaml @@ -0,0 +1,330 @@ +name: lab3_heatstir_2beaker_s06_plrptl_hsc_00000 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 10000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Place beaker a on the heater platform. + Press the heater button to start heating. Pick up the glass rod from the rack. + Stir the contents of beaker a with the glass rod. Return the glass rod to the + rack. + layout_id: layout_00000 + reproducibility: + enabled: true + layout_id: layout_00000 + action_seed: 7341943718102437219 + step_seeds: + - 2500273653211418822 + - 70012352371227459 + - 3039154489468777781 + - 389388605830743609 + - 8071428982563593121 + - 3344239845166725093 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1854 + - 0.1854 + 'y': + - -0.1367 + - -0.1367 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1876 + - 0.1876 + 'y': + - 0.0199 + - 0.0199 + z: + - 0.0 + - 0.0 + role: source + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2107 + - 0.2107 + 'y': + - -0.3536 + - -0.3536 + z: + - 0.0 + - 0.0 + - name: rod_rack + path: /World/test_tube_rack + position_range: + x: + - 0.2936 + - 0.2936 + 'y': + - 0.3156 + - 0.3156 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + - name: glass_rod + path: /World/glass_rod + relative_to: rod_rack + relative_offset: + - -0.01152 + - -0.1125 + - 0.0 + sub_path: /World/glass_rod/Cylinder + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: 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 + - skill: pick + target_object: glass_rod + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.002 + - 0.005 + - 0.02 + - 0.05 + - 0.004 + - 0.02 + pre_offset_x: 0.1 + pre_offset_z: 0.12 + after_offset_z: 0.3 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: {} + - skill: stir + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - -10 + events_dt: + - 0.004 + - 0.004 + - 0.005 + - 0.001 + - 0.004 + held_center_offset_max_norm: 0.25 + rod_extends: 0.12 + rod_tip_clearance: 0.07 + lift_clearance: 0.15 + insert_margin: 0.01 + preserve_start_orientation: true + lock_target_position: true + position_threshold: 0.008 + controller_rod_extends: 0.12 + align_held_rod_tip_to_mouth: true + guard_held_rod_tip_bottom: true + rod_tip_bottom_guard_clearance: 0.06 + rod_tip_control_max_offset: 0.25 + stir_insert_offset_z: -0.008 + stir_radius: 0.006 + stir_speed: 1.0 + stir_center_dwell_steps: 20 + stir_phase3_max_wait_steps: 300 + target_max_xy_drift: 0.02 + require_stir_motion: true + rod_tip_motion_min_path: 0.0005 + rod_tip_motion_max_step: 0.004 + rod_tip_motion_max_range: 0.024 + - skill: place + target_object: rod_rack + target_key: glass_rod_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.15 + place_offset_z: 0.01 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + physical_held_target_compensation: true + physical_held_max_xy_offset: 0.08 + position_threshold: 0.03 + release_gripper_control_mode: position + release_gripper_position_gap: 0.02 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00000 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00000/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00000/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..71eed5261cf25fba9e18ce48de4ea6d3a7e98431 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00000/results/episode_0_success.json @@ -0,0 +1,2009 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21512952751604486, + -0.14009423726414377, + 1.1652222586443575 + ], + "current_z": 1.1652222586443575, + "required_z": 0.8611065852502244, + "initial_z": 0.7611065852502245, + "lift_margin": 0.30411567339413303, + "gripper_z": 1.1587857991642603, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21046195491021516, + -0.1446892903758093, + 1.1587857991642603 + ], + "object_minus_gripper": [ + 0.004667572605829701, + 0.004595053111665526, + 0.00643645948009719 + ], + "object_to_gripper_xy": 0.006549866191741546, + "object_to_gripper_z": 0.00643645948009719, + "fingertip_source": 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+ "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/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "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/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + 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