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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00050/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00050/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4707c8aafc149241d6bb98b96fe6853ce44c6a90 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00050/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00050 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00050 + reproducibility: + enabled: true + layout_id: layout_00050 + action_seed: 4942358866277519827 + step_seeds: + - 2262270067400771719 + - 871272999959148026 + - 8987880868648427340 + - 5993632848405908672 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2109 + - 0.2109 + 'y': + - -0.0767 + - -0.0767 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2933 + - 0.2933 + 'y': + - 0.2112 + - 0.2112 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.32 + - 0.32 + 'y': + - 0.0605 + - 0.0605 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2128 + - 0.2128 + 'y': + - -0.3115 + - -0.3115 + 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_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00050 +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_s04_pslr_hte_00050/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00050/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..978f92c7911582b704b9031307f41c53e79a15a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00050/results/episode_100_success.json @@ -0,0 +1,926 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "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": [ + 0.3187353187308691, + 0.21096652378623992, + 1.0495080638449126 + ], + "current_z": 1.0495080638449126, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19292149683170223, + 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00053/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00053/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b29e549aef5caa108d3725130de0b4d86ad9a695 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00053/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_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: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. 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 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3437 + - 0.3437 + 'y': + - 0.2651 + - 0.2651 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2966 + - 0.2966 + 'y': + - 0.3654 + - 0.3654 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.313 + - 0.313 + 'y': + - 0.0633 + - 0.0633 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2707 + - 0.2707 + 'y': + - -0.3557 + - -0.3557 + 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_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_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_heat_2beaker_s04_pslr_hte_00053/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00053/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af21758688fd1edd559c7bb11b8b934bcd0a4d5c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00053/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "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": [ + 0.317220478398209, + 0.3660749480971351, + 1.0510253003415764 + ], + "current_z": 1.0510253003415764, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1944387929330108, + "gripper_z": 1.0495705478826407, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3116558227163091, + 0.36088208097797014, + 1.0495705478826407 + ], + "object_minus_gripper": [ + 0.005564655681899899, + 0.005192867119164946, + 0.0014547524589356708 + ], + "object_to_gripper_xy": 0.007611258882432345, + "object_to_gripper_z": 0.0014547524589356708, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.317220478398209, + 0.34139156778038027, + 1.0510253003415764 + ], + "finger_b": [ + 0.30476572426312554, + 0.3660749480971351, + 1.0510253003415764 + ], + "finger_midpoint": [ + 0.31099310133066727, + 0.35373325793875765, + 1.0510253003415764 + ], + "object_minus_finger_midpoint": [ + 0.006227377067541728, + 0.012341690158377439, + 0.0 + ], + "finger_gap": 0.02764760684809696, + "fingertip_max_gap": 0.09062724825635246, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013823803424048504, + 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Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1af1c388d8cc36e430ebc4066a5bb9f8c8ab7ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..173fc9f69b1e4bd8286c362ed6e540abd0b48816 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_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: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. 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 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3167 + - 0.3167 + 'y': + - -0.0592 + - -0.0592 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2183 + - 0.2183 + 'y': + - 0.2672 + - 0.2672 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3565 + - 0.3565 + 'y': + - 0.1659 + - 0.1659 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2181 + - 0.2181 + 'y': + - -0.3554 + - -0.3554 + 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_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_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_heat_2beaker_s04_pslr_hte_00054/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..889b1bf31010f1c6aa828b79bab8838468b75bf1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00054/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "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": [ + 0.23894859472269536, + 0.2686286770405516, + 1.0478559846366082 + ], + "current_z": 1.0478559846366082, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.19126941762339789, + "gripper_z": 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00055/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00055/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d273ee592450b4e809e8cba24304e8667a7fa7cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00055/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00055 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00055 + reproducibility: + enabled: true + layout_id: layout_00055 + action_seed: 8806927083092606348 + step_seeds: + - 9195532624043951519 + - 2174840515464234862 + - 5631495399262764080 + - 8167694512295148893 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1915 + - 0.1915 + 'y': + - 0.2106 + - 0.2106 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1928 + - 0.1928 + 'y': + - -0.0492 + - -0.0492 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3351 + - 0.3351 + 'y': + - 0.0764 + - 0.0764 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2535 + - 0.2535 + 'y': + - -0.3168 + - -0.3168 + 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_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00055 +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_s04_pslr_hte_00055/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00055/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96feb37e3648c08d39927c46a09d04e17b3be843 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00055/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "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": [ + 0.21732522094043302, + -0.049410451429025004, + 1.046851831260182 + ], + "current_z": 1.046851831260182, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1902653834562612, + "gripper_z": 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00056/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00056/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..82d8a162007c993545d6a4146d5fbc381e3d196d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00056/resolved_config.yaml @@ -0,0 +1,257 @@ +name: lab3_heat_2beaker_s04_pslr_hte_00056 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b on the heater platform. Press the heater button + to start heating. + layout_id: layout_00056 + reproducibility: + enabled: true + layout_id: layout_00056 + action_seed: 3305704738968594269 + step_seeds: + - 1387880366786480442 + - 3653538728300496961 + - 938762340460168811 + - 7977105579055539891 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3258 + - 0.3258 + 'y': + - -0.0176 + - -0.0176 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1817 + - 0.1817 + 'y': + - 0.1495 + - 0.1495 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3494 + - 0.3494 + 'y': + - 0.2971 + - 0.2971 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2317 + - 0.2317 + 'y': + - -0.3116 + - -0.3116 + 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_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00056 +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_s04_pslr_hte_00056/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00056/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b8afa3cf6579ce12f6233b132d5cab723aefc379 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00056/results/episode_0_success.json @@ -0,0 +1,926 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 4, + "total_steps": 4, + "step_accuracy": "4/4", + "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": [ + 0.2115584216299406, + 0.14797337939988156, + 1.044127620663749 + ], + "current_z": 1.044127620663749, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1875411728598283, + "gripper_z": 1.048376605371879, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20667336667255323, + 0.14323355576544625, + 1.048376605371879 + ], + "object_minus_gripper": [ + 0.004885054957387364, + 0.004739823634435314, + -0.004248984708129955 + ], + "object_to_gripper_xy": 0.0068065916597256255, + "object_to_gripper_z": -0.004248984708129955, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2115584216299406, + 0.12357339891276105, + 1.044127620663749 + ], + "finger_b": [ + 0.20000707807566423, + 0.14797337939988156, + 1.044127620663749 + ], + "finger_midpoint": [ + 0.20578274985280243, + 0.1357733891563213, + 1.044127620663749 + ], + "object_minus_finger_midpoint": [ + 0.005775671777138169, + 0.01219999024356025, + 0.0 + ], + "finger_gap": 0.02699615872083997, + "fingertip_max_gap": 0.09239367818361455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013498079360419973, + 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"forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 3305704738968594269, + "physical_seed": 6222674211974431638, + "layout_id": "layout_00056", + "step_seeds": [ + 1387880366786480442, + 3653538728300496961, + 938762340460168811, + 7977105579055539891 + ], + "workflow_spec_digest": "8a2e8f7804ee0277238c2230fe245bf7c10822c415e59781d33a50eae0ac66bf", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "136e1c3ba0947a6ac4565825901c8ee04d9aa0b616a38bd1fb258a784f89ddef", + "visual_seed": 7158916447010574338, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1387880366786480442, + 3653538728300496961, + 938762340460168811, + 7977105579055539891 + ], + "runtime_workflow_digest": "efa93329fa4b0a47eaa7a885775637c9565e2e4d954c4ff8abec1b1556212142" + } +} \ No newline at end of file