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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ebd90e285dceb23c438df46d8872272e843547b7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/resolved_config.yaml @@ -0,0 +1,318 @@ +name: lab3_heat_2beaker_s06_polplr_htf_00041 +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. Pour beaker a into beaker b and + return it upright. Place beaker a at home. Pick up beaker b from home. Place beaker + b on the heater platform. Press the heater button to start heating. + layout_id: layout_00041 + reproducibility: + enabled: true + layout_id: layout_00041 + action_seed: 2848321962719448975 + step_seeds: + - 5782229107148351242 + - 3907262889746092396 + - 8862035115530452832 + - 4186600411236157895 + - 2365929533760883226 + - 6164155675536394708 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1636 + - 0.1636 + 'y': + - 0.2256 + - 0.2256 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2118 + - 0.2118 + 'y': + - 0.0238 + - 0.0238 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3537 + - 0.3537 + 'y': + - 0.1682 + - 0.1682 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2746 + - 0.2746 + 'y': + - -0.3076 + - -0.3076 + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - 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: 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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041 +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_s06_polplr_htf_00041/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ef2040e8f0265d43851eb870e5f92aa2d08901f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_0_success.json @@ -0,0 +1,1682 @@ +{ + "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": [ + 0.19638175406670957, + 0.23056179330380333, + 1.0016768352249388 + ], + "current_z": 1.0016768352249388, + "required_z": 0.8611066112894011, + "initial_z": 0.7611066112894012, + "lift_margin": 0.14057022393553764, + "gripper_z": 1.0052209505268996, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19130826519879018, + 0.2257521396910051, + 1.0052209505268996 + ], + "object_minus_gripper": [ + 0.00507348886791939, + 0.004809653612798226, + -0.0035441153019608596 + ], + "object_to_gripper_xy": 0.006990926774613292, + "object_to_gripper_z": -0.0035441153019608596, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19638175406670957, + 0.20612779635071835, + 1.0016768352249388 + ], + "finger_b": [ + 0.18485939062983223, + 0.23056179330380333, + 1.0016768352249388 + ], + "finger_midpoint": [ + 0.1906205723482709, + 0.21834479482726082, + 1.0016768352249388 + ], + "object_minus_finger_midpoint": [ + 0.005761181718438674, + 0.012216998476542507, + 0.0 + ], + "finger_gap": 0.02701453435236029, + 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"required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + 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